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Below are two GitHub Repositories for template projects that will control an FRC swerve drivetrain built with REV MAXSwerve Modules.
Note that this is meant to be used with a drivetrain composed of four MAXSwerve Modules, each configured with two SPARK MAXs, a NEO as the driving motor, a NEO 550 as the steering motor, and a REV Through Bore Encoder as the absolute turning encoder.
Within the Constants file for both the Java and C++ MAXSwerve Templates, there are three variables that your team can tune for your robot's Slew Rate needs. To determine the default values we loaded a test MAXSwerve Drivetrain to approximately 140lbs (Including bumpers and battery) and tuned the parameters until we found values that made the MAXSwerve Wheels last the longest amount of time.
DirectionSlewRate is the most important parameter for reducing MAXSwerve Wheel failures. Lower values limit the rate of change of the direction of the robot. This avoids high-speed J turns that put destructive side loads on the wheels. Note that direction changes faster than the slew rate are allowed at lower speeds. The value here is the slew rate at 100% linear speed.
The MagnitudeSlewRate, or acceleration, in the linear direction. Generally, adjustments to the direction slew rate should be applied here as well (i.e. both should be increased or both should be reduced).
RotationalSlewRate is not a major contributor to wheel wear but may help smooth other motions out. If the robot has to do a lot of spinning due to defense or a particular style of mechanism, reducing this could help reduce tread wear.
Added a configurable rate limiting system to prevent excessive loads from causing premature wheel failure.
MAXSwerve Wheel V2 should be replaced when the tread disappears. We advise replacing wheels at 1/2 inch depth loss for proactive repairs.
The following images will describe a rating system we have developed for determining if a MAXSwerve Wheel should still be used on your robot.
This rating system was developed from our internal testing and feedback from teams who had contacted us about their MAXSwerve Wheel failures. Please make sure that you take your team's robot design and driving style into consideration.
Okay to keep using this wheel because it is still in good shape. There is minor wear or damage to the tread but no signs of too much axial force or scrub.
The affected wheel should be monitored closely because it is showing signs of wear that could lead to delamination of the tread. Please be sure to check the wheel again after your next match!
Red Wheels need to be replaced right away and before the next match if possible. Delamination is very likely to occur with continued use beyond this state.
In this section, we will describe different features of the MAXSwerve Wheel and wear patterns as Axial or Radial. Here are some descriptions of what these terms mean on a MAXSwerve Wheel.
Radial - Describes features that occur radiating from the center of the wheel towards the tread
Axial - Describes features that occur side to side along the wheel’s axle
Green wheels show early signs of wear that will eventually lead to the tread delaminating from the core of the wheel. When evaluating green wheels it is important to note that tread depth is something to be aware of, but it will not affect the rating of the wheel.
Green wheels have little to no radial separation (or peeling) of the tread. Also, the tread is still resilient enough to spring back quickly if it is stretched along the separation.
Small cuts or gouges in the wheels do not disqualify it from being rated as green. You will also see no axial separation on green wheels.
Sometimes looking at your wheel from the top down along the tread can help you identify radial separation easily. Green wheels will have straight borders since they have not had any axial separation yet.
Yellow wheels show moderate signs of wear that will eventually lead to the tread delaminating from the core of the wheel. When evaluating yellow wheels it is important to note that tread depth is something to be aware of, but it will not affect the rating of the wheel. Even if a MAXSwerve Wheel has near-perfect tread grooves, if there is any axial separation from the core it should be classified as yellow.
Yellow wheels have some radial separation of the tread from the core as well as clear axial separation. The tread may be able to spring back still when moved, but it will remain separated from the core.
Axial Separation on a yellow wheel is noticeable but does not interfere with the forks of your module or create excess friction in your drivetrain.
When looking at the wheel from a top-down view, you can sometimes see axial separation on a yellow wheel along the edges. Also within the axial separation, you will not be able to see the core's support posts.
Red wheels show serious signs of wear that will soon lead to the tread delaminating from the core of the wheel. When evaluating red wheels it is important to note that tread depth is something to be aware of, but it will not affect the rating of the wheel. Even if a MAXSwerve Wheel has near-perfect tread grooves, if there is a large amount axial separation from the core it should be classified as red.
Red wheels have major radial separation of the tread from the core as well as clear major axial separation. The tread may not be able to spring back when moved but regardless of how the tread behaves your team should replace this wheel.
Large gaps of both radial and axial separation on a red wheel may interfere with the forks of your module or create excess friction in your drivetrain as the tread expands.
When looking at the wheel from a top-down view, you will likely be able to see axial separation of the tread from the core of a red wheel. Within the axial separation, you will also be able to see at least one core support post (shown below)
The was designed for the . You can attach your favorite tread material to this wheel, allowing it to be reused throughout the season.
Our template has been crafted to ensure a tight fit of the treads onto the 3in diameter x 7/8in wide billet wheel. Once you have found your perfect tread, the template can be scaled to various sizes to produce treads with the correct hole spacing for various recommended treads. With this jig, the tread installation process is seamless, resulting in a tight and secure fit every time.
Keep in mind that this template may need to be scaled/adjusted based on your team's choice of tread. We have found that a 103% scaling of the PDF works for the type of tread suggested earlier. Be sure to double check your dimensions are correct for your scale and choice of tread!
Once you know the correct size of tread that is necessary for your team's specific use application, it can be helpful to pre-cut large quantities of tread at once.
We recommend checking the following items before each match to ensure that your MAXSwerve Modules are ready to go!
Download MAXSwerve Inspection Checklist to print and laminate for your next event!
It is best to perform this inspection while your robot is powered off
The materials listed below will reinforce ONE Plastic MAXSwerve Wheel
Item & SKU | QTY |
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Identify the pockets in the core that align with the lower ridges in the tread, this is where we will be placing the rivets
Drill 6 holes in the tread that line up with the pockets of the core using a #9 drill bit. These holes should be slightly off-center towards the direction of the side of the wheel that the pockets are on. Use the image below as a guide for the placement of these holes.
Once all 6 of your holes have been drilled, place 6 rivets in the wheel. Be sure to compress the tread while you are putting the rivets in so that they will not get caught on the field carpet.
Teams can use to attach this Mounting Bracket to the module, as pictured below.
Item & SKU | QTY |
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During the 2023 FRC season, we designed a template to prepare replacement strips of treads for the used on the .
can be pressed into the fixture to ensure that the jig will remain usable for an extended period of time. However, users should note that they will need to grind a flat into the bushings, as the screw placement is narrowly spaced.
More details found at
More details found at
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Zip-Ties - 10in | 2 Required, 5 Suggested |
1) Locate the 6-pin JST port for the Through Bore Encoder inside of the MAXSwerve Module |
2) Plug in the 15cm 6-Pin JST Extention Cable to your Through Bore encoder and then separate the wires into groups so that the NEO 550's wires and the Through Bore Encoder's Cable are on either side of the module |
3) Ensure the SPARK MAX Mounting Bracket is attached to your MAXSwerve Module Drivetrain. Then thread a zip-tie through the top two mounting holes. Secure the zip-tie in a very loose loop, only letting the zip-tie click a couple of times to latch. |
4) Slide the power input side of both SPARK MAX Motor Controllers into the zip-tie loop so that the power and ground wires are facing away from the MAXSwerve Module and the data port on the top is facing away from the SPARK MAX Mounting Bracket. Then tighten the zip-tie to secure. |
5) Attach the Through Bore Encoder Cable to the Absolute Encoder Adapter |
6) Thread a zip-tie through the other two mounting holes as shown. |
7) Plug in the Absolute Encoder Adapter to the Data port on the top of the SPARK MAX that will be driving your NEO 550. In this image, we chose to use the Upper SPARK MAX. Then tighten the zip tie to secure both SPARK MAXs and the Encoder Adapter. |
8) Wire the Phase Wires of the NEO motor to the SPARK MAX on the underside of your swerve module. Be sure to plug in the NEO's Sensor Wire! |
9) Wire the Phase wires of the NEO 550 motor to the controller on the underside of your swerve module. |
10) Ensure that you have plugged in both the Through Bore Encoder into the Absolute Encoder Board and the NEO 550's sensor wire directly into the SPARK MAX's Encoder Port. |
11) Bundle your wires for each SPARK MAX, checking to make sure that there is enough slack, and then secure them to the top mounting hole with another zip-tie. |
12) Plug in your CAN/PWM cables to the SPARK MAX's 4-pin JST signal port. It is next to the USB C port on the SPARK MAX itself. |
13) Finish wiring for both SPARK MAXs and the CAN by connecting the V+ and V- wires to your Power Distribution and the CAN cables to the rest of your CAN Bus. |
1) Mark the tread to the length of the scaled tread template, and cut the tread to the correct length. We recommend using a Bandsaw for this process but you can use other cutting tools, like tinsnips too. |
2) Mark the tread with holes for mounting and with lines to create the proper width of the tread. Use a bandsaw or tinsnips to cut the tread to the proper width of the wheel. |
3) Drill or punch through the mounting holes using a 5mm/#9 drill bit. After creating the holes, "countersink" the tread by using flush cutters on both sides of the tread, especially if the holes are drilled. Punched holes may not need to be countersunk, as there may not be residual tread left by the punch process. |
1) Pre-load screws into the tread. Be sure that the screw has a few threads showing through the tread, but don’t thread it all the way through yet. Screws should be #10-32 Button Head Screws, but the length will depend on which tread is being used, as tread height varies by brand. |
2) Attach the screws to the wheel. Ensure that you are properly threading the screw into the hole, as the tread can cause the screw to be pulled out of alignment. If this step is proving difficult, it may help to rotate the screw backward to align the threads prior to tightening it fully. |
3) Wrap the tread tightly around the wheel, and attach the two remaining screws to the wheel and tread, taking care not to cross-thread them. You may need to wiggle, stretch, or rotate the screw within the tread for the screw to align the threads. Marking the path of the threaded hole, as seen to the right, can also make attaching the screws easier. |
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6 |
Power Drill | 1 |
#9 Drill bit | 1 |
Rivet tool | 1 |
The 3in MAXSwerve Module (REV-21-3005) is compatible with the REV ION System, features a 3in Swerve Wheel, and is commonly used in a set of four to build a swerve drivetrain. This module gives a robot the ability to drive forward and backward, side-to-side, and rotate simultaneously without sacrificing traction. The 3in MAXSwerve Module uses the small size and low mass of the NEO 550 Brushless Motor and UltraPlanetary Gearbox to save a significant amount of space and weight.
When assembling the MAXSwerve Module we recommend adding grease during assembly and re-applying as needed for the maintenance of your mechanism. For most applications, using White Lithium Grease or Red Tacky Grease will provide sufficient lubrication.
Metal construction
3in wheel diameter
Module mounting maximizes wheelbase footprint
Compatible with NEO Brushless Motor or Falcon 500 (with replacement shaft)
Azimuth driven by NEO 550 Brushless Motor & UltraPlanetary Gearbox
All steel gears in drive powertrain
Gear-driven azimuth drive
Completed with one and one installed to the module
For the recommended treads we are using the following:
Height with NEO: 171.5mm (6.75in)
Height with Falcon: 194.4mm (7.66in)
Footprint with mounting tabs: 133.1mm x 133.1mm (5.24in x 5.24in)
Footprint without mounting tabs: 100.5mm x 100.5mm (3.96in x 3.96in)
Weight with NEO: 1720g (3.80lb)
Weight with Falcon: 1800g (3.97lb)